JP2023506519A - Method for controlling lighting system of motor vehicle - Google Patents

Abstract

A method for controlling a lighting system (3) of a host motor vehicle (1), the lighting system comprising a plurality of selectively controllable primary light sources (32i,j), each primary light source comprising: It is capable of emitting a fundamental light beam (HDi,j) with a vertical aperture angle of less than 1°. The method comprises the steps of detecting (E1) a target (5) by means of a sensor system (2) of the host vehicle, a given point (21) of the sensor system on the host vehicle and the detected point of the target. determining the relative distance (XHC) between (XHC) and the slope (S) of the road on which the target is located (E2, E2'); Determine the lower angle (Vinf) and upper angle (Vsup) between point (31) and high and low cutoff positions, respectively, which are intended to mutually border the target vertically. Step (E6) and controlling a primary light source in the lighting system of the host motor vehicle to emit a pixelated high beam light beam (HD), wherein, depending on the downward and upward angles, substantially and a step (E7) in which a portion of the primary light source is controlled to produce in the light beam a dark space (ZC) extending between the high cutoff position and the stereotactic cutoff position.

Description

The present invention relates to the field of motor vehicle lighting. In particular, the present invention relates to a method for controlling the lighting system of a motor vehicle to produce a pixelated high beam light beam that does not cause dazzling nuisance.

A motor vehicle includes a sensor system for detecting a target on the road that should not be subject to nuisance dazzle, and a lighting system for emitting a non-dazzling beam depending on the position of this target. It is a known practice to equip

To that end, these lighting systems are capable of emitting a horizontally segmented road lighting beam, and turn on and/or off each of the elementary light beams forming each segment of this beam. , and/or a control unit is provided with which the respective light intensity can be varied. Thus, it is known that illumination systems of this kind are usually controlled to extinguish a light segment extending vertically through the illumination beam centered on the target. Such a lighting system is thus able to illuminate the road more brightly than conventional low beam lighting beams without creating objectionable dazzle to other road users.

However, modern lighting system technology makes it possible to emit pixelated beams both horizontally and vertically, with particularly high resolution in the vertical direction. In this type of technology, it would be advantageous to be able to control the lighting system to produce a pixelated road lighting beam such as: That is, the illumination beam is characterized by a dark area that is at the same height as the target, but above and below this dark area is still illuminated. Specifically, such pixelated illumination beams are different from beams that are controlled in a segmented fashion, allowing drivers to perceive overpass-type traffic signs and on roads in near vision. recognizing objects and pavement markings, and not confusing the driver when the dark space moves within the illumination beam to follow the target as it actually moves. be.

Therefore, within such a pixelated beam, the generation of the dark is controlled so that it still illuminates above and below the target while giving it cutoffs above and below that border the target. There is a need for a method that would allow The present invention aims to meet this need.

To these ends, one subject of the present invention is a method for controlling a lighting system of a host motor vehicle, the lighting system comprising a plurality of selectively controllable primary light sources. each elementary light source capable of emitting an elementary light beam with a vertical aperture angle of less than 1°;
a. detecting the target by a sensor system of the host vehicle;
b. determining the relative distance between a given point of the sensor system on the host vehicle and the detected point of the target and determining the slope of the road on which the target is located;
c. Based on said relative distance and said gradient between a given point of the lighting system on the host vehicle and respective upper and lower cut-offs which are intended to mutually border the target vertically. determining the downward angle and the upward angle of
d. controlling a primary light source in the lighting system of the host motor vehicle to emit a pixelated high beam light beam, substantially the upper cutoff and the lower, depending on the lower and upper angles; a portion of the primary light source is controlled to produce a dark space in the light beam extending between the cutoff;
It is a method with

By virtue of the present invention, certain pixels within the pixelated light beam emitted by the host vehicle's lighting system are such that their upper and lower cutoffs form a dark area that frames or borders the target. can be turned off, but it should be understood that the positions of these cutoffs are determined based on information about the target and the slope of the road on which the host vehicle is traveling.

Advantageously, the step of detecting the target may be performed using a device such as a laser scanner or LIDAR (LIDAR stands for Light Detection And Ranging). The device is equipped with a light transmitter/receiver and a computer. The computer is capable of measuring the time-of-flight of transmitted light received after being reflected from the object for the purpose of detecting the presence of the object. Where appropriate, the computer may use the measured time-of-flight to determine the relative distance.

Advantageously, information about grade, in combination with relative distance, can be obtained using the host vehicle's navigation system.

The method comprises an intermediate step of comparing the slope to a lower threshold and an upper threshold, wherein performing the step of determining the lower and upper angles determines that the slope is contained between the lower and upper thresholds. It is preferable that it be a condition. The lower threshold may alternatively be a slope above -15°, especially -13°, for example. An upper threshold may for example be a slope of less than +15°, especially +13°. The rationale behind this comparison stage is that the adaptive road lighting feature can only be activated when the host vehicle is traveling at a sufficiently high speed. Thus, considering the slope of the road on which the motor vehicle is likely to travel at high speeds, it produces dark areas in the pixelated light beam if the slope of the road is not contained between the lower and upper thresholds. recognized as not necessary. This is because in this case the host vehicle cannot be traveling fast enough to trigger the adaptive road lights.

ここで、Z_ｃはホスト車両と目標物との間の相対高さ、Ｈ_ＨＬは目標物の光源の高さ、Ｓは目標物の位置する道路の勾配、X_ＨＣはホスト車両と目標物とを隔てる距離、X_Ｓは目標物の位置する道路の勾配の起点からホスト車両を隔てる距離、Ｈ_Ｈはホスト車両のセンサーシステムの高さである。 Based on the relative distance and the gradient, the method determines the relative distance between the given point of the lighting system on the host vehicle and the given point of the target to which the lower cutoff must be aligned. Advantageously, comprising determining a height, the lower and upper angles are determined based on said relative distance, said slope and said relative height. Where appropriate, the method may comprise determining the relative height, which is further determined using the distance to the origin of the gradient. This distance may in particular be obtained using the host vehicle's navigation system. If desired, the method includes measuring the height of the target light source (eg, the rear lights or headlamps of the target vehicle), which height is used to determine the relative height. Alternatively, the height of the light source of the target may be predetermined. For example, the relative height may be obtained using the following equation:

where _Zc is the relative height between the host vehicle and the target, _HHL is the height of the light source of the target, S is the slope of the road on which the target is located, and _XHC is the relative height between the host vehicle and the target. , X _S is the distance separating the host vehicle from the origin of the slope of the road on which the target is located, and _HH is the height of the host vehicle's sensor system.

Determining the relative height is performed at a given point in time between the given point of the lighting system in the host vehicle and the given point of the target with which the lower cutoff must be aligned. and the method advantageously comprises predicting the value of said relative height at a future time for a given time. A given point in time may correspond to, for example, the point of detection of the target by the sensor system, and the downward and upward angles may be determined based on the predicted relative height values. This feature makes it possible to compensate for latency in automotive vehicle sensor and lighting systems. Specifically, between a given point in time when a target is detected by the sensor system and the point in time when a dark space is produced in the light beam emitted by the illumination system, the dark space no longer substantially detects the target. As a result of the target being moved out of envelopment, the light beam may be subject to unpleasant dazzling effects. Thus, by predicting the relative height values at a future time, it is possible to position the upper and lower dark cutoffs around the position of the target at this future time.

Where appropriate, the step of predicting comprises determining a vertical velocity of the target, and the relative height value at a future time is predicted using the vertical velocity of the target. For example, vertical velocity can be determined by differentiating the determined relative height values with respect to time.

ここで、Ｖ_ｉｎｆは下方角度、Ｚ_Ｃはホスト車両と目標物との間の相対高さ、X_ＨＣはホスト車両と目標物とを隔てる距離である In one embodiment of the invention, the downward angle value is determined using said relative height and said relative distance. For example, the downward angle value may be obtained using the following equation:

where V _inf is the downward angle, Z _C is the relative height between the host vehicle and the target, and X _HC is the distance separating the host vehicle from the target.

Advantageously, the method comprises determining the height of the target and the upper angle value is determined using the lower angle value and the determined height.

The step of detecting the target comprises classifying the target type within a set of predetermined types of target, and the height of the target is determined according to the classified type of target. is advantageous. For example, a target type may be obtained using a method implemented by a computer of the sensor system for processing signals acquired by a receiver of the sensor system. Where appropriate, the collection of predetermined types of targets includes in particular pedestrians, bicycles, cars or trucks, each predetermined type of target being associated with a predetermined target height. may

Alternatively, the height of the target may be obtained using a method implemented by the computer of the sensor system of the host vehicle for processing the images acquired by the camera of the sensor system.

ここで、Ｖ_ｓｕｐは上方角度、Ｈ_ＨＬは目標物の光源の高さ、X_ＨＣはホスト車両と目標物とを隔てる距離、Ｈ_Ｃは目標物の高さ、Ｖ_ｉｎｆは下方角度の値である。 For example, the upper angle value may be determined using the following equation:

where V _sup is the up angle, H _HL is the target light source height, X _HC is the distance separating the host vehicle from the target, _HC is the target height, and V _inf is the down angle value. be.

The step of controlling primary light sources in the lighting system of the host vehicle comprises extinguishing certain primary light sources each capable of emitting one primary light beam between an upper cutoff and a lower cutoff. is advantageous. For example, since each elementary light source can emit a light beam in a given emission cone determined by its given aperture angle and its emission direction, the control step may alternatively determine that the emission cone is Selecting a base light source that is at least partially vertically contained within an interval defined by the lower and upper angles. Where appropriate, the step of controlling the primary light sources each emits one primary light beam between an upper cutoff and a lower cutoff and between the side cutoffs bordering the target. may comprise extinguishing certain basic light sources capable of For example, based on the lateral angle between a given point of the sensor system and the detected point of the target, a given point of the illumination system and left and right sensors intended to laterally border the target. Two lateral angles between each of the lateral cutoffs of .times..times..times..times..times.

The invention also relates to a motor vehicle comprising a sensor system, a lighting system and a controller, the controller being adapted to implement the method according to any one of the preceding claims.

Advantageously, the illumination system comprises a plurality of selectively controllable elementary light sources, each elementary light source capable of emitting an elementary light beam with a vertical aperture angle of less than 1°. If appropriate, all elementary light sources may be capable of emitting pixelated light beams within a range of -1° to +5° vertically with respect to the horizontal.

Advantageously, the elementary light sources are arranged such that the vertical aperture angle of the elementary light beams they can emit decreases with the distance from the top of the pixellated light beam. If desired, the lighting system can:
a. A first plurality of selectively controllable elementary light sources each capable of emitting one elementary light beam having a vertical aperture angle of approximately 0.25°, all of which light sources are: a first plurality of elementary light sources capable of emitting first pixelated light sub-beams within a range of −1° to +1° in the vertical direction;
b. a second plurality of selectively controllable elementary light sources each capable of emitting one elementary light beam having a vertical aperture angle of approximately 0.3°, all of which light sources are a second plurality of elementary light sources capable of emitting second pixelated light sub-beams within +1° to +2° in the vertical direction;
c. a third plurality of selectively controllable elementary light sources each capable of emitting one elementary light beam having a vertical aperture angle of approximately 0.35°, all of which light sources are a third plurality of elementary light sources capable of emitting third pixelated light sub-beams within +2° to +3° in the vertical direction;
d. a fourth plurality of selectively controllable elementary light sources each capable of emitting one elementary light beam having a vertical aperture angle of approximately 0.4°, all of which light sources are a fourth plurality of elementary light sources capable of emitting fourth pixelated light sub-beams within +3° to +5° in the vertical direction;
may be provided.

In one embodiment of the invention, an illumination system comprises a light emitting module comprising a pixelated light source comprising a plurality of elementary light emitters arranged in a matrix array and projection optics associated with the pixelated light source. ing. Each elementary illuminator forms an elementary light source and is selectively operable to emit an elementary light beam. The projection optics are for projecting each of the elementary light beams onto the road. For example, the pixelated light source comprises at least one matrix array of electroluminescent elements, in particular at least one monolithic matrix array (monolithic array) of electroluminescent elements.

Alternatively, the light emitting module may comprise a light source formed, for example, from at least one light emitting diode and a matrix array of optoelectronic elements. The matrix array of optoelectronic elements is, for example, a digital micromirror device (DMD) that directs the light rays output from the at least one light source by reflection towards the projection optics.

The present invention will now be described with reference to the accompanying drawings, given by way of example only and by no means limiting the scope of the invention.

1 schematically and partially shows a motor vehicle according to an embodiment of the invention; FIG. 2 illustrates a method according to an embodiment of the invention, performed by the motor vehicle of FIG. 1; FIG. 3 is a side view of a road site during the implementation of the method of FIG. 2 by the vehicle of FIG. 1; FIG. 3 is a front view of a road site during the implementation of the method of FIG. 2 by the vehicle of FIG. 1; FIG.

In the following description, elements that are equivalent in structure or function and appear in different drawings are labeled with the same reference numerals unless otherwise indicated.

FIG. 1 partially illustrates a host motor vehicle 1 according to one embodiment of the invention. The host motor vehicle 1 comprises a sensor system 2 with a device 21, here a laser scanner. In the illustrated example, the laser scanner 21 is installed in the lighting system 3 in the form of a front headlamp of the vehicle 1 and is equipped with a transceiver. The transceiver is arranged to emit light through the outer lens of the headlamp 3 and to receive this light after being reflected. Sensor system 2 further comprises computer 22 configured to implement various methods for processing signals received by the transceiver of laser scanner 21 . The lighting system 3 of the host vehicle 1 comprises a light emitting module 31 . The light emitting module 31 particularly comprises a pixelated light source 32 associated with a lens 33 . In the illustrated example, pixelated light source 32 is a monolithic pixelated light emitting diode. Each of its light emitting elements forms one elementary light source _32i,j . The primary light source 32 _i,j can be selectively activated and controlled by an embedded controller to emit light towards lens 33 . The lens 33 thus projects onto the road an elementary light beam HD _i,j whose light intensity is controllable. Each elementary light beam HD _i,j is projected by a lens into a given emission cone defined by a given emission direction and a given aperture angle. Thus, in the illustrated example, all of the elementary light beams HD _i,j thus form a pixelated light beam containing 500 pixels of 25 columns and 20 rows in the vertical range of angles from -1° to +5°. HD is formed. Each pixel of the beam is formed by one of these elementary light beams HD _i,j .

Each elementary light beam HD _{i,j emitted by one of the elementary light sources 32 i ,j} in the light source 32 has a vertical aperture angle of less than 1°. Specifically, the elementary light sources 32 _i,j of the light sources 32 have vertical aperture angles of their possible primary light beams HD _i,j that decrease with distance from the top of the pixelated light beam. are arranged to especially:
a. each of the elementary light sources whose emission cone is within the vertical range of angles from -1° to +1° is capable of emitting an elementary light beam with a vertical aperture angle of approximately 0.25°;
b. each of the elementary light sources whose emission cone is within a vertical range of +1° to +2° angles is capable of emitting an elementary light beam with a vertical aperture angle of approximately 0.3°;
c. each of the elementary light sources whose emission cone is within the vertical range of +2° to +3° angles is capable of emitting an elementary light beam with a vertical aperture angle of approximately 0.35°;
d. Each of the elementary light sources whose emission cone is within the vertical range of +3° to +5° angles can emit an elementary light beam with a vertical aperture angle of approximately 0.4°.

Light emitting module 31 includes controller 34 configured to control the embedded controller of pixelated light source 32 . The control is such that it selectively controls the turning on, turning off and changing of the light intensity of each of the elementary light beams HD _i,j in response to commands received from the controller 4 of the host vehicle 1 . These instructions are determined based, among other things, on information delivered by the computer 22 of the sensor system 2 and the navigation system 11 of the host vehicle 1 .

Note that in the illustrated example, the laser scanner 21 and the light emitting module 31 are installed at substantially the same height.

FIG. 2 shows a method for controlling the lighting system 3 of the host vehicle 1 . The method enables the illumination system 3 to emit a high-beam light beam that does not cause object 5 to be unpleasantly dazzled. The method is implemented by controller 4 using sensor system 2 and navigation system 11 . FIG. 3 shows a side view and FIG. 4 a front view of the road site onto which this light beam is projected during the implementation of the method. Note that FIGS. 3 and 4 only show a partial view of this light beam.

In a first stage E1, the sensor system 2 detects the presence of a target 5 (in this case a target vehicle 5) on the road. In the illustrated example, computer 22 implements one or more methods for processing signals received by the transceiver of laser scanner 21 to enable target vehicle 5 to be detected. It alternatively analyzes this time-of-flight to measure the time-of-flight of the emitted light received (by the transceiver of the laser scanner) after being reflected, for example, from a road or objects on the road, and for the purpose of detecting the presence of a target vehicle. It would be a matter of how to

In a second step E2, the computer 22 of the sensor system 2 calculates the distance _XHC separating the transceiver of the laser scanner 21 of the host vehicle from the target vehicle 5. Further, the computer 22 classifies the target vehicle type within a set of predetermined vehicle types, and based on the selected target vehicle 5 type, the height H _C of the target vehicle 5 and the height H C of the target vehicle 5 . determine the height _HHL of the rear light 51 of . Each of these tasks may be accomplished by one or more algorithms for processing signals received by the transceiver of laser scanner 21 and implemented by computer 22 . All of this information X _HC , _HC , H _HL is transmitted by computer 22 to controller 4 .

In stage E2', the host vehicle's navigation system 11 communicates information about the road on which the host vehicle and the target vehicle 1 are traveling. In particular, the navigation system 11 determines the road slope S at the target vehicle 5 location based on the known location of the host vehicle 1 and the distance X _HC transmitted from the controller 4 . The navigation system also determines the distance X _S between the host vehicle 1 and the origin of the slope of the road on which the target vehicle 5 is traveling.

In step E3, the controller 4 compares the value of the slope S with a lower threshold S _min (eg −13%) and an upper threshold S _max (eg +13%). If the slope S is not included between S _min and S _max , the host and target vehicle 1, 5 will not enable or require the antiglare high beam function. The method stops as long as it can be estimated that the vehicle is traveling on a road of If the slope S is contained between S _min and S _max , the method proceeds to the next step.

ここで、Ｚ_Ｃはホスト車両１と目標車両５との間の相対高さ、Ｈ_ＨＬは目標車両５のリアライト５１の高さ、Ｓは目標車両５の走行している道路の勾配、X_ＨＣはホスト車両１と目標車両５とを隔てる距離、X_Ｓは目標車両５の位置する道路の勾配の起点からホスト車両１を隔てる距離、Ｈ_Ｈはホスト車両１のセンサーシステム２の高さである。 In step E4, the controller 4 determines the relative height _ZC between the lighting system 31 of the host vehicle 1 and the rear lights 51 of the target vehicle 5 using the following equation:

where _ZC is the relative height between the host vehicle 1 and the target vehicle 5, _HHL is the height of the rear light 51 of the target vehicle 5, S is the slope of the road on which the target vehicle 5 is traveling, and X _HC is the distance separating the host vehicle 1 and the target vehicle 5, _XS is the distance separating the host vehicle 1 from the starting point of the slope of the road on which the target vehicle 5 is located, and _HH is the height of the sensor system 2 of the host vehicle 1. be.

The relative height Z _C determined by controller 4 relates to the position of target vehicle 5 at time t of detection by computer 22 . However, the various methods implemented by the computer 22 of the sensor system 2 and the methods according to the invention (to be explained below) which enable anti-glare high beams to be generated by the illumination system 3. Each step requires a given execution time Δt after which the beam is actually emitted. During this time Δt the target vehicle 5 has moved so that the value of the relative height _ZC no longer corresponds to the actual position of the target vehicle 5 at the time the beam was emitted. deaf.

ここで、Ｚ_Ｃは時点ｔでの相対高さの値（即ち、段階Ｅ４で決定された値）、Ｚ_Ｃ’は未来の時点ｔ＋Δｔでの相対高さの予測値、Ｚdotは目標車両５の垂直方向速度、Δｔは本発明による方法のレイテンシの時間である。 To compensate for this latency, in step E5, the controller 4 determines the distance between the host vehicle 1 and the rear lights 51 of the target vehicle 5 at a future time t+Δt relative to the time t of detection of the target vehicle 5 by the computer 22 in step E1. predict the value of the relative height Z _C ' of . For these purposes, the controller 4 determines the vertical velocity Zdot of the target vehicle 5 through differentiation of the various values of the vertical height _ZC previously determined in step E4. However, due to format restrictions in the specification, it is written as Zdot except for the mathematical expression part). Thus the predicted value Z _C ' would be obtained using the following equation:

where Z _C is the value of the relative height at time t (i.e. the value determined in step E4), Z _C ' is the predicted value of the relative height at future time t+Δt, Zdot is the value of the target vehicle 5 The vertical velocity, Δt, is the latency time of the method according to the invention.

ここで、Ｖ_ｉｎｆは下方角度、Ｚ_Ｃ’は段階Ｅ５で予測された相対高さ、Ｘ_ＨＣはホスト車両１と目標車両とを隔てる距離（段階Ｅ２で決定された距離）である。 In step E6 the controller 4 determines the downward angle V _inf between the light emitting module 31 and the rear lights 51 of the target vehicle 5 using the following equation:

where V _inf is the downward angle, Z _C ' is the relative height predicted in step E5, and X _HC is the distance separating the host vehicle 1 and the target vehicle (the distance determined in step E2).

ここで、Ｖ_ｓｕｐは上方角度、Ｈ_ＨＬは目標車両５のリアライト５１の高さ、Ｘ_ＨＣはホスト車両１と目標車両５とを隔てる距離、Ｈ_Ｃは目標車両５の高さ、Ｖ_ｉｎｆは下方角度の値である。 Furthermore, still in step E6, the controller 4 determines the upper angle V _sup based on the previously obtained value of the lower angle V _inf and the target vehicle height H _C determined in step E2. , determined using, for example, the following equation:

where V _sup is the upper angle, H _HL is the height of the rear light 51 of the target vehicle 5, X _HC is the distance separating the host vehicle 1 and the target vehicle 5, _HC is the height of the target vehicle 5, V _inf is the value of the downward angle.

At the end of step E6 the controller 4 sends the pair of lower and upper angles V _inf , V _sup to the controller 34 of the light emitting module 31 . Further, in steps not described, the controller 4 determines pairs of right and left side angles V _LD and V _LG , respectively, based on the position of each rear light 51 of the target vehicle 5 and Send the pair to the controller 34 .

At step E7, the controller 34 selects the primary light sources 32 _i,j in the light source 32 as follows. That is, its emission cone is at least partially vertically between the lower V _inf and upper V _sup angles and horizontally at least partially between the right V _LD and left V _LG lateral angles. is an elementary light source 32 _i,j at . The controller 34 thus controls the extinguishing of these selected primary light sources 32i _,j , while controlling the illumination of the other primary light sources. The light emitting module 1 thus emits a pixellated high beam light beam HD in which a dark zone _ZC is formed centered on the target vehicle 5 . The dark zone _ZC is vertically defined by lower and upper cut-offs, which respectively form a vertical angle with respect to the light-emitting module 1, with respective vertical angle values of substantially V _inf and V _sup . and are horizontally defined by right and left lateral cut-offs each forming a horizontal angle with respect to the light emitting module 1, the respective horizontal angle values being substantially V _LD and V _LG . . Note that the term "substantially" has to be interpreted here taking into account the vertical and horizontal resolution of the pixellated light beam HD.

The foregoing description clearly explains how the invention makes it possible to achieve the goals set for it. In particular, it is by providing a method of controlling the on and off of each elementary light source in the lighting system for controlling the lighting system of the host vehicle. The control is such as to generate a dark area in the pixelated light beam bordered by an upper cutoff and a lower cutoff, the positions of which are output from the host vehicle's sensor system. The decision is made based on the information provided, especially information relating to the vertical position (on the road) of the target that should not be subject to unpleasant dazzle.

In no case should the invention be construed as limited to the embodiments specifically described in this document, particularly any equivalent means or technical uses of these means together. It extends to any possible combination. In particular, it is possible to envisage types of light-emitting modules other than those described, in particular light-emitting modules comprising an association of a light source and a digital micromirror device. It is also possible to conceive of other methods for determining the various values using equations that allow the values of the lower and upper angles to be determined, and even equations other than the one that has been described. be. These equations, in particular, describe the amount of room available for vertically moving the positions of the upper and lower cutoffs in the dark within the pixelated light beam.

Claims (10)

A method for controlling a lighting system (3) of a host motor vehicle (1), said lighting system comprising a plurality of selectively controllable primary light sources (32 _i,j ), each primary light source can emit a fundamental light beam (HD _i,j ) with a vertical aperture angle of less than 1°,
- detecting (E1) a target (5) by means of a sensor system (2) of said host vehicle;
Determining the relative distance (X _HC ) between a given point (21) of the sensor system on the host vehicle and the detected point of the target, and determining the slope of the road on which the target is located ( S) (E2, E2');
a given point (31) of the lighting system on the host vehicle and an upper cutoff and a lower designed to vertically border the target relative to each other, based on the relative distance and the slope; determining (E6) the downward angle (V _inf ) and the upward angle (V _sup ) between each of the cutoffs;
- controlling the primary light source in the lighting system of the host motor vehicle to emit a pixelated high beam light beam (HD), substantially depending on the lower and upper angles; a step (E7) in which a portion of the primary light source is controlled to generate a dark space (Z _C ) in the light beam extending between the upper cutoff and the lower cutoff;
A method with of step (E6) of determining said lower and upper angles (V _inf , V _sup ), comprising an intermediate step (E3) of comparing said slope (S) with a lower threshold (S _min ) and an upper threshold (S _sup ); 2. The method of claim 1, wherein execution is contingent on the slope being contained between the lower threshold and the upper threshold. Based on said relative distance ( _XHC ) and said slope (S), said given point (31) of said lighting system (3) in (1) and said lower cutoff are aligned with said host vehicle. determining (E4) the relative height (Z _C ) between a given point (51) of said target (5) to be measured, said lower and upper angles (V _inf , V _sup ) is determined based on the relative distance, the slope and the relative height. The step of determining (E4) said relative height (Z _C ) is to align said given point (31) of said lighting system (3) on said host vehicle (1) with said lower cut-off. determining the relative height at a given point in time (t) between said given point (51) of said target (5) and said point (51) of said target (5), said method comprising: 4. A method according to any one of claims 1 to 3, comprising a step of predicting (E5) the value of said relative height (Z' _C ) at a future time (t+Δt). Said step of predicting (E5) comprises determining a vertical velocity (Zdot) of said target (5), the value of said relative height (Z' _C ) at a future time (t+Δt) being: 5. The method of claim 4, predicted using the vertical velocity of the target. 6. The method according to any one of claims 3 to 5, wherein the value of said downward angle (V _inf ) is determined using said relative height (Z _C ) and said relative distance (X _HC ). Method. determining (E2) the height (H _c ) of the target (5), the value of the upper angle (V _sup ) being the value of the lower angle (V _inf ) and the determined height; 7. The method of claim 6, wherein the method is determined using The step (E1) of detecting said target (5) comprises classifying said target type within a set of predetermined types of targets, wherein said target height (H _c ) is: 8. The method of claim 7, determined according to the classified type of the target. The step of controlling (E7) the primary light sources (32 _i,j ) in the lighting system (3) of the host vehicle (1) comprises one primary light beam between the upper cutoff and the lower cutoff. 9. A method according to any one of the preceding claims, comprising extinguishing certain elementary light sources each capable of emitting (HD _i,j ). comprising a sensor system (2), a lighting system (3) and a controller (4), said controller being designed to implement the method according to any one of claims 1 to 9. , a motor vehicle (1).

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